CN114534275A - A imitative shape robot for shadow puppet performance - Google Patents
A imitative shape robot for shadow puppet performance Download PDFInfo
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- CN114534275A CN114534275A CN202210176547.1A CN202210176547A CN114534275A CN 114534275 A CN114534275 A CN 114534275A CN 202210176547 A CN202210176547 A CN 202210176547A CN 114534275 A CN114534275 A CN 114534275A
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- steering engine
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63J—DEVICES FOR THEATRES, CIRCUSES, OR THE LIKE; CONJURING APPLIANCES OR THE LIKE
- A63J19/00—Puppet, marionette, or shadow shows or theatres
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/003—Manipulators for entertainment
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Abstract
The invention provides a profiling robot for shadow puppet performance, which comprises a linear module and a shadow puppet robot arranged on the linear module, wherein the shadow puppet robot is connected with three control lines of a shadow puppet, the linear module controls the horizontal movement of the robot, and simultaneously controls the action of the shadow puppet through the robot, the shadow puppet robot controls various actions of the shadow puppet through a profiling trunk and two profiling arms, so that the artistic performance of the shadow puppet is realized, the problems of high difficulty and long learning time of the existing shadow puppet are solved, and the profiling robot has great significance for the raised shadow puppet art.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a profiling robot for shadow puppet performance.
Background
The article of Liyan bamboo mentions that the development of shadow puppet art is only among inheritors at present, most importantly, a performer is required to operate a puppet to perform in the process of performing the shadow puppet, the performer can perform the shadow puppet skillfully through training of a year after a year, and meanwhile, the existing shadow puppet art is lack of innovation mainly because the difficulty of innovation is high, and the puppet needs to be manufactured again and new action operation needs to be performed.
In view of the above problems, it is necessary to design a human-like shadow play performing device to perform the shadow play art so as to carry forward the traditional art.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a profiling robot for shadow puppet performance.
The invention is realized by the following technical scheme:
a profiling robot for shadow puppet performance comprises a linear module, a profiling body and two profiling arms symmetrically connected with the profiling body;
the profiling body comprises a rotary joint, a jumping joint, a swinging joint and a body control joint, the lower end of the rotary joint is connected with the linear module, the jumping joint is arranged at the top of the rotary joint and connected with the rotary joint, the upper end of the jumping joint is connected with the body control joint through a U-shaped bracket, the body control joint is driven to be connected with a body control rod, and the body control rod is used for being connected with a trunk control line of the shadow puppet;
the rotating joint is used for driving the shadow puppet to rotate within a preset radius, the jumping joint is used for driving the shadow puppet to move up and down, the swinging joint is used for driving the shadow puppet to swing back and forth along the length direction of the curtain, and the body control rod is used for driving the height control of the shadow puppet through rotation;
the profiling arm comprises an encircling joint, a profiling large arm, a profiling small arm and an arm control rod, one end of the encircling joint is fixedly connected with the side wall of the U-shaped support, the other end of the encircling joint is rotatably connected with one end of the profiling large arm, the other end of the profiling large arm is rotatably connected with the profiling small arm, the profiling small arm is connected with the arm control rod, and the arm control rod is used for being connected with an arm control line of the shadow puppet.
Preferably, the linear module comprises a track, a sliding block is assembled on the track, and the lower end of the rotary joint is connected with the sliding block.
Preferably, the lower end of the rotary joint is provided with a gear, the gear is connected with a motor, and one side of the track is provided with a rack meshed with the gear.
Preferably, the rotary joint comprises a first steering engine, the lower end of the first steering engine is connected with the linear module, and an output shaft of the first steering engine is connected with the jumping joint;
the jumping joint comprises a second steering engine and a first U-shaped support, the opening side of the first U-shaped support is fixedly connected with the lower portion of the second steering engine, the center of the first U-shaped support is connected with the output shaft of the first steering engine, the output shaft of the first steering engine faces upwards vertically, the output shaft of the first steering engine can enable the second steering engine to rotate, and the shadow puppet can rotate within a preset radius.
Preferably, the swing joint comprises a third steering engine and a second U-shaped support, two ends of an opening of the second U-shaped support are connected with an output shaft of the second steering engine, the output shaft of the second steering engine is horizontally arranged, the middle parts of two ends of the second U-shaped support are fixedly connected with the third steering engine, and the output shaft of the second steering engine enables the third steering engine to rotate on a vertical plane, so that the shadow puppet can jump up and down.
Preferably, the body control joint comprises a fourth steering engine and a third U-shaped support, the two ends of the opening of the third U-shaped support are fixedly connected with the third steering engine, an output shaft of the third steering engine is connected with the fourth steering engine, the third steering engine can enable the fourth steering engine to rotate along the axial direction of the output shaft of the third steering engine, the body control rod is coaxially and fixedly connected with the output shaft of the fourth steering engine, and the fourth steering engine drives the body control rod to rotate coaxially.
Preferably, the encircling joint comprises an eighth steering engine, the eighth steering engine is connected with one side of the U-shaped support, an output shaft of the eighth steering engine extends horizontally, the output shaft of the eighth steering engine is fixedly connected with the middle of the U-shaped support, and two open ends of the U-shaped support are connected with the profiling large arm.
Preferably, the profiling large arm comprises a seventh steering engine, a support frame and a sixth steering engine, an output shaft of the seventh steering engine is connected with two open ends of the U-shaped support, the seventh steering engine is fixedly connected with the sixth steering engine through the support frame, and an output shaft of the sixth steering engine is connected with the profiling small arm.
Preferably, the profiling small arm comprises a fifth steering engine and a connecting frame, one end of the connecting frame is connected with an output shaft of the sixth steering engine, an output shaft of the sixth steering engine and an output shaft of the seventh steering engine are arranged in parallel, the other end of the connecting frame is fixedly connected with the fifth steering engine, an output shaft of the fifth steering engine is connected with an arm control rod, the output shaft of the fifth steering engine is perpendicular to the axis of the arm control rod, and the output shaft of the fifth steering engine is perpendicular to the output shaft of the sixth steering engine.
Compared with the prior art, the invention has the following beneficial technical effects:
the invention provides a profiling robot for shadow puppet performance, which comprises a linear module and a shadow puppet robot arranged on the linear module, wherein the shadow puppet robot is connected with three control lines of a shadow puppet, the linear module controls the horizontal movement of the robot, and simultaneously controls the action of the shadow puppet through the robot, the shadow puppet robot controls various actions of the shadow puppet through a profiling trunk and two profiling arms, so that the artistic performance of the shadow puppet is realized, the problems of high difficulty and long learning time of the existing shadow puppet are solved, and the profiling robot has great significance for the raised shadow puppet art.
Further, set up the track on sharp module, the imitative robot is whole to be connected with the track through the slider, realizes the removal of imitative robot along the curtain direction, adopts track slider mechanism drive imitative robot motion, simple structure and make imitative robot operation stable.
Furthermore, all joints are driven and controlled by the steering engine, so that the manufacturing cost of the profiling robot is effectively reduced, the movement angle can be controlled, and the precise control of the profiling robot is realized.
Drawings
FIG. 1 is a schematic structural diagram of a profiling robot for shadow play performance of the present invention;
FIG. 2 is a block diagram of the stage frame structure of the present invention;
FIG. 3 is a schematic structural diagram of a base according to the present invention;
FIG. 4 is a schematic diagram of the mechanism of the linear module of the present invention;
fig. 5 is a schematic structural diagram of the profiling robot of the present invention.
In the figure: 1. a stage frame; 2. a linear module; 3. a base; 4. a robot; 101. a cross beam; 102. A column; 103. a panel; 104. a screen; 105. a lamp tube; 201. a substrate; 202. a base; 203. A baffle plate; 204. a baffle plate; 205. a rack; 206. a track; 207. a slider; 301. a connecting plate; 302. A base steering engine; 303. a connecting rod; 304. a gear; 21. a first steering engine; 22. a second steering engine; 23. A U-shaped bracket; 24. a side bracket; 25. a third steering engine; 26. a fourth steering engine; 27. a body control lever; 28. an arm control lever; 29. a fifth steering engine; 30. a connecting frame; 31. a sixth steering engine; 32. a support frame; 33. a seventh steering engine; 34. an eighth steering engine.
Detailed Description
The present invention will now be described in further detail with reference to the attached drawings, which are illustrative, but not limiting, of the present invention.
Referring to fig. 1-5, a profiling robot for shadow puppet performance comprises a frame type stage 1 and a profiling robot arranged in the stage 1, wherein a straight line module 2 is arranged at the bottom of the stage 1, the profiling robot is connected with the straight line module 2, the profiling robot is used for connecting a shadow puppet, and the straight line module 2 is used for driving the profiling robot to move linearly.
Frame-type stage 1 includes a plurality of crossbeams 101, rectangle chassis and the roof-rack that a plurality of crossbeams are constituteed, and four angles of chassis and roof-rack are connected through stand 102 respectively, form cube frame structure, and the chassis upper berth is equipped with panel 103, and one of them face lateral wall is provided with screen 104, and sharp module 2 sets up in cube frame's bottom surface to with screen 104 interval parallel arrangement, be provided with light 105 with the parallel lateral wall top of screen.
The linear module 2 comprises a base 202, a base 201, a rail 206 and a sliding block 207, wherein the base 202 is in an elongated rectangular structure and is arranged on the panel 103, the base 201 is arranged on the top of the base 202, the rail 206 is arranged on the top of the base 202, the sliding block 207 is assembled on the rail, in the embodiment, the bottom of the sliding block 207 is provided with a roller which is embedded in the rail, the two ends of the base 201 are provided with a baffle 203 and a baffle 204, one side of the base 202 is provided with a rack 205, and the rack 205 is used for being connected with a base of the square robot.
The profiling robot comprises a base 3, a profiling body and two profiling arms symmetrically connected with the profiling body, the lower end of the profiling body is connected with the base, the base is connected with a linear module, the base comprises a connecting plate 301, a base steering gear 302 and a gear 304, the connecting plate 301 is connected with the top surface of a sliding block 207 through a bolt, the base steering gear 302 is fixed on the top surface of the connecting plate, a connecting rod 303 extending vertically downwards is arranged on an output shaft of the base steering gear 302 and located on one side of the base, the gear 304 is fixedly connected to the lower end of the connecting rod 303 and meshed with a rack 205, the base steering gear 302 rotates through the connecting rod driving gear 304, the sliding block moves along a track, and the movement of the shadow puppet is achieved.
The profiling body comprises a rotary joint, a jumping joint, a swinging joint and a body control joint.
The lower end of the rotary joint is fixedly connected with the connecting plate of the base 3, the jumping joint is arranged at the top of the rotary joint and connected with the rotary joint, the upper end of the jumping joint is connected with the body control joint through the U-shaped bracket 23, the body control joint is driven to be connected with a body control rod 27, and the body control rod is used for being connected with a trunk control line of the shadow puppet.
The rotating joint is used for driving the shadow puppet to rotate in a preset radius, the jumping joint is used for driving the shadow puppet to move up and down, the swinging joint is used for driving the shadow puppet to swing back and forth along the length direction of the curtain, and the body control rod 27 is used for driving the height control of the shadow puppet through rotation.
The rotary joint comprises a first steering engine 21, the lower end of the first steering engine 21 is fixedly connected with a connecting plate of the base 3, and an output shaft of the first steering engine 21 is connected with a jumping joint.
The jumping joint comprises a second steering engine 22 and a first U-shaped support, the second steering engine 22 is packaged in the shell, the opening side of the first U-shaped support is fixedly connected with the lower portion of the shell, the center of the first U-shaped support is connected with an output shaft of the first steering engine 21, the output shaft of the first steering engine 21 is vertically upward, the output shaft of the first steering engine 21 can enable the second steering engine 22 to rotate, and the shadow puppet can rotate within a preset radius.
The swing joint comprises a third steering engine 25 and a second U-shaped support 23, the two open ends of the second U-shaped support 23 are connected with an output shaft of the second steering engine 22, an output shaft of the second steering engine 22 is horizontally arranged, the middle parts of the two ends of the second U-shaped support 23 are fixedly connected with the third steering engine 25, and the output shaft of the second steering engine 22 enables the third steering engine 25 to rotate on a vertical plane, so that the shadow puppet can jump up and down.
The body control joint comprises a fourth steering engine 26 and a third U-shaped support, the two ends of the opening of the third U-shaped support are fixedly connected with a third steering engine 25, the output shaft of the third steering engine 25 is connected with the fourth steering engine 26, the third steering engine 25 can enable the fourth steering engine 26 to rotate along the axial direction of the output shaft of the third steering engine 25, and then the shadow puppet can swing back and forth along the horizontal direction of the curtain, a body control rod 27 is coaxially and fixedly connected with the output shaft of the fourth steering engine 26, the fourth steering engine 26 drives the body control rod 27 to coaxially rotate, a body control line can be wound and contracted, and the micro-motion action of the shadow puppet, such as nodding action, is realized.
The profiling arm comprises an encircling joint, a profiling large arm, a profiling small arm and an arm control rod 28, one end of the encircling joint is fixedly connected with the side wall of the second U-shaped support 23, the other end of the encircling joint is rotatably connected with one end of the profiling large arm, the other end of the profiling large arm is rotatably connected with the profiling small arm, the profiling small arm is connected with the arm control rod 28, and the arm control rod 28 is used for being connected with an arm control line of the shadow puppet.
The upper end of the second U-shaped support 23 is provided with a support body, the upper end of the support body is fixedly connected with a shell of a third steering engine, the encircling joint comprises an eighth steering engine 34 and a U-shaped support, the eighth steering engine 34 is fixedly connected with one side of the support body, an output shaft of the eighth steering engine 34 horizontally extends, an output shaft of the eighth steering engine 34 is fixedly connected with the middle of the U-shaped support, and two open ends of the U-shaped support are connected with the profiling large arm.
The profiling large arm comprises a seventh steering engine 33, a supporting frame 32 and a sixth steering engine 31, an output shaft of the seventh steering engine 33 is connected with two open ends of the U-shaped support, the seventh steering engine 33 is fixedly connected with the sixth steering engine 31 through the supporting frame 32, and an output shaft of the sixth steering engine 31 is connected with the profiling small arm. Eighth steering wheel 34 can drive the big arm of profile modeling through U type support and rotate, and seventh steering wheel 33 can make whole square big arm do the action that the wrist-watch encircled or expanded simultaneously.
The profiling small arm comprises a fifth steering engine 29 and a connecting frame 30, one end of the connecting frame 30 is connected with an output shaft of a sixth steering engine 31, an output shaft of the sixth steering engine 31 and an output shaft of a seventh steering engine 33 are arranged in parallel, the other end of the connecting frame 30 is fixedly connected with the fifth steering engine 29, the output shaft of the fifth steering engine 29 is connected with an arm control rod 28, the output shaft of the fifth steering engine 29 is perpendicular to the axis of the arm control rod, meanwhile, the output shaft of the fifth steering engine 29 is perpendicular to the output shaft of the sixth steering engine 31, and the output shaft of the fifth steering engine 29 can enable the arm control rod 28 to rotate so that the shadow puppet can move up and down.
The steering engines comprise micro motors and shells coated outside the micro motors, all steering engine uniform control units are connected, the control units are further connected with signal acquisition units, and the signal acquisition units comprise millimeter wave radar sensors, Kinect binocular depth sensors and distance measuring sensors.
The millimeter wave radar sensor obtains moving gesture radar signals under the scene of weak light, the control unit classifies gestures to obtain gesture information, and instructions are sent to each steering engine through the wireless router to control the actions of the copying robot; the Kinect binocular depth sensor generates corresponding actions by capturing skeleton points of performers to finish rapid music editing; the distance measuring sensor obtains key information of the current position of the robot through a baffle arranged on the whole running track of the robot and is used for positioning data of left-right translation.
The following explains the use method of the imitation robot for shadow puppet performance provided by the invention in detail.
The control lines of two arms and the control line of a trunk of the figure are respectively fixedly connected with the end parts of two arm control rods 28 and one body control rod 27, the action of the profiling robot is controlled through a control unit according to a preset program, and the profiling robot controls the action of the figure through the arm control rods and the body control rods to complete the performance.
The Kinect binocular depth sensor obtains skeleton point information of the performer, generates corresponding actions according to the skeleton point information, completes rapid composition, and then controls the action of the profiling robot through the control unit to complete the performance.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (9)
1. A profiling robot for shadow puppet performance is characterized by comprising a linear module, a profiling body and two profiling arms symmetrically connected with the profiling body;
the profiling body comprises a rotary joint, a jumping joint, a swinging joint and a body control joint, the lower end of the rotary joint is connected with the linear module, the jumping joint is arranged at the top of the rotary joint and is connected with the rotary joint, the upper end of the jumping joint is connected with the body control joint through a U-shaped support (23), the body control joint is driven to be connected with a body control rod (27), and the body control rod is used for being connected with a trunk control line of the shadow puppet;
the rotating joint is used for driving the shadow puppet to rotate in a preset radius, the jumping joint is used for driving the shadow puppet to move up and down, the swinging joint is used for driving the shadow puppet to swing back and forth along the length direction of the curtain, and the body control rod (27) is used for driving the height control of the shadow puppet through rotation;
the copying arm comprises an encircling joint, a copying large arm, a copying small arm and an arm control rod (28), one end of the encircling joint is fixedly connected with the side wall of the U-shaped support (23), the other end of the encircling joint is rotatably connected with one end of the copying large arm, the other end of the copying large arm is rotatably connected with the copying small arm, the copying small arm is connected with the arm control rod (28), and the arm control rod (28) is used for being connected with an arm control line of the shadow puppet.
2. The anthropomorphic robot for a shadow puppet performance as claimed in claim 1, characterized in that the rectilinear module comprises a track (206) on which a sliding block (207) is fitted, the lower end of the rotary joint being connected to the sliding block (207).
3. The figure robot for shadow puppet performance as claimed in claim 2, wherein the lower end of the rotary joint is provided with a gear, the gear is connected with a motor, and one side of the track (206) is provided with a rack engaged with the gear.
4. The profiling robot for the shadow puppet performance according to claim 1, wherein the rotary joint comprises a first steering engine (21), the lower end of the first steering engine (21) is connected with the linear module, and an output shaft of the first steering engine (21) is connected with a jumping joint;
the jumping joint comprises a second steering engine (22) and a first U-shaped support, the opening side of the first U-shaped support is fixedly connected with the lower portion of the second steering engine (22), the center of the first U-shaped support is connected with an output shaft of the first steering engine (21), the output shaft of the first steering engine (21) is vertically upward, the output shaft of the first steering engine (21) can enable the second steering engine (22) to rotate, and the shadow puppet can rotate within a preset radius.
5. The profiling robot for the shadow puppet performance according to claim 4, wherein the swinging joint comprises a third steering engine (25) and a second U-shaped support (23), two open ends of the second U-shaped support (23) are connected with an output shaft of the second steering engine (22), the output shaft of the second steering engine (22) is horizontally arranged, the middle parts of the two ends of the second U-shaped support (23) are fixedly connected with the third steering engine (25), and the output shaft of the second steering engine (22) enables the third steering engine (25) to rotate on a vertical plane, so that the shadow puppet can jump up and down.
6. The profiling robot for shadow puppet performance according to claim 5, wherein the body control joint comprises a fourth steering engine (26) and a third U-shaped support, two ends of an opening of the third U-shaped support are fixedly connected with the third steering engine (25), an output shaft of the third steering engine (25) is connected with the fourth steering engine (26), the third steering engine (25) can enable the fourth steering engine (26) to rotate along the axial direction of the output shaft of the third steering engine (25), the body control rod (27) is coaxially and fixedly connected with the output shaft of the fourth steering engine (26), and the fourth steering engine (26) drives the body control rod (27) to coaxially rotate.
7. The profiling robot for the shadow puppet performance according to claim 1, wherein the encircling joint comprises an eighth steering engine (34), the eighth steering engine (34) is connected with one side of the U-shaped support (23), an output shaft of the eighth steering engine (34) extends horizontally, an output shaft of the eighth steering engine (34) is fixedly connected with the middle part of the U-shaped support, and two open ends of the U-shaped support are connected with the profiling large arm.
8. The profiling robot for the shadow puppet performance according to claim 7, wherein the profiling large arm comprises a seventh steering engine (33), a support frame (32) and a sixth steering engine (31), an output shaft of the seventh steering engine (33) is connected with two open ends of the U-shaped support, the seventh steering engine (33) is fixedly connected with the sixth steering engine (31) through the support frame (32), and an output shaft of the sixth steering engine (31) is connected with the profiling small arm.
9. The profiling robot for the shadow puppet performance according to claim 8, wherein the profiling small arm comprises a fifth steering engine (29) and a connecting frame (30), one end of the connecting frame (30) is connected with an output shaft of the sixth steering engine (31), an output shaft of the sixth steering engine (31) and an output shaft of a seventh steering engine (33) are arranged in parallel, the other end of the connecting frame (30) is fixedly connected with the fifth steering engine (29), an output shaft of the fifth steering engine (29) is connected with an arm control rod (28), the output shaft of the fifth steering engine (29) is perpendicular to the axis of the arm control rod, and the output shaft of the fifth steering engine (29) is perpendicular to the output shaft of the sixth steering engine (31).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210176547.1A CN114534275B (en) | 2022-02-24 | 2022-02-24 | A imitative shape robot for shadow puppet performance |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210176547.1A CN114534275B (en) | 2022-02-24 | 2022-02-24 | A imitative shape robot for shadow puppet performance |
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| CN114534275A true CN114534275A (en) | 2022-05-27 |
| CN114534275B CN114534275B (en) | 2023-03-31 |
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| CN102621997A (en) * | 2012-04-13 | 2012-08-01 | 清华大学 | Shadow puppet control robot |
| CN102794024A (en) * | 2012-07-16 | 2012-11-28 | 西安交通大学 | Mechanical stringed puppet |
| CN203540082U (en) * | 2013-09-12 | 2014-04-16 | 绍兴迅实电子科技有限公司 | Integrated shadow play performing device |
| CN108283816A (en) * | 2018-04-10 | 2018-07-17 | 西安尖果儿电子商务有限公司 | A kind of shadow puppet performance device, large-scale shadow puppet performance device and shadow puppet performance component |
| CN210645153U (en) * | 2019-07-26 | 2020-06-02 | 武汉虹捷信息技术有限公司 | Intelligence shadow puppet performance equipment |
| CN210933809U (en) * | 2019-09-18 | 2020-07-07 | 苏越 | Shadow play robot |
| CN114012744A (en) * | 2021-10-20 | 2022-02-08 | 五邑大学 | Shadow play control robot and system |
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- 2022-02-24 CN CN202210176547.1A patent/CN114534275B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102621997A (en) * | 2012-04-13 | 2012-08-01 | 清华大学 | Shadow puppet control robot |
| CN102794024A (en) * | 2012-07-16 | 2012-11-28 | 西安交通大学 | Mechanical stringed puppet |
| CN203540082U (en) * | 2013-09-12 | 2014-04-16 | 绍兴迅实电子科技有限公司 | Integrated shadow play performing device |
| CN108283816A (en) * | 2018-04-10 | 2018-07-17 | 西安尖果儿电子商务有限公司 | A kind of shadow puppet performance device, large-scale shadow puppet performance device and shadow puppet performance component |
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